JP2022180405A - Work management system and work management method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform efficient automatic traveling.

SOLUTION: A work management system comprises: a satellite antenna receiving a satellite signal from a satellite; a satellite positioning module 80 outputting positioning data corresponding to one's own vehicle position on the basis of the satellite signal; a yield output portion 20 outputting the yield measured by a yield sensor 19; a data acquisition portion 90 acquiring the positioning data and the yield; an area calculation portion 84 calculating the worked land area of a worked land and the unworked land area of an unworked land according to the positioning data acquired during traveling on the worked land; a yield ratio calculation portion 71 calculating a yield ratio, which is a yield per unit area on the worked land, according to the yield acquired during traveling on the worked land and the worked land area; and a total yield estimation portion 72 estimating the total yield of grains expected to be harvested on the unworked land.

SELECTED DRAWING: Figure 4

COPYRIGHT: (C)2023,JPO&INPIT

Description

The present invention relates to a work management system and a work management method for managing and controlling the work of a combine harvesting crops in a field.

As a combine harvester, for example, the one described in Patent Document 1 is already known. This combine harvester can harvest crops in a field by a harvesting device (a “reaping device” in Patent Document 1) while traveling by a traveling device. Moreover, this combine is provided with a grain tank (“grain tank” in Patent Literature 1) that stores the harvested material harvested by the harvesting device.

This combine is configured to automatically travel based on signals received from GPS satellites, and a yield sensor that detects the amount of grain in the grain tank ("grain amount detection means" in Patent Document 1). It has When the value detected by the yield sensor exceeds the set value, the combine interrupts the harvesting operation and automatically moves to the vicinity of the truck (discharge point) in order to discharge the grain from the grain tank. .

JP-A-2001-69836

However, in the automatic running of the conventional combine, automatic running including movement for discharging the grain may not be efficient depending on the position where the amount of grain to be discharged is reached. For example, when the grain volume to be discharged is reached far from the edge of the field, the combine retreats to the swivel area (unworked area) of the already harvested field and then moves to the discharge point. It was necessary to do inefficient automatic driving.

An object of the present invention is to perform efficient automatic driving.

A work management system according to an embodiment of the present invention includes a grain tank for storing grains harvested and threshed and a yield sensor for measuring the yield of the grains stored in the grain tank. A work management system for a combine that harvests crops in the outer peripheral area of a field by manually traveling and harvests the crops while automatically traveling in an unworked area inside the already worked area where the manual traveling has been performed. a satellite antenna provided in the combine for receiving satellite signals from satellites; a satellite positioning module provided in the combine for outputting positioning data corresponding to the position of the vehicle based on the satellite signals; a yield output unit for outputting the yield measured by the yield sensor; a data acquisition unit for acquiring the positioning data and the yield; an area calculation unit that calculates the area of the unworked land and the unworked area of the unworked land; and a total yield estimation unit for estimating the total yield of grains expected to be harvested in the unworked land from the unworked land area and the yield rate. and

By estimating the total yield of the unworked land in this way, it is possible to easily manage the harvesting operation, including this field or other fields, when the perimeter mowing is completed. In addition, the total yield harvested in the unworked land can be taken into consideration when generating a travel route for automatic driving in the unworked land. Therefore, it is possible to efficiently generate a travel route for automatic travel by using the total yield as a guideline.

In addition, it is possible to provide a discharge number calculation unit that divides the total yield by the discharge yield of the grain tank and rounds up to the decimal point to calculate the minimum required number of discharges during automatic traveling on the unworked land. preferable.

With such a configuration, it becomes easy to optimize the timing of discharging grains, and it becomes possible to efficiently generate a travel route for automatic travel.

Further, when the grains are discharged during the manual travel, the discharge frequency calculation unit preferably calculates the discharge frequency by using the yield stored at the time of the discharge during the manual travel as the discharge yield.

By using the yield at the time of actual discharge as the discharge yield, it becomes possible to calculate a more realistic number of times of discharge.

Further, an emission reference yield calculation unit that calculates an emission reference yield, which is a yield equal to or less than the emission yield, from the total yield and the number of times of emission, and a travel route generation unit that generates an automatic travel route based on the emission reference yield. It is preferable to have a part.

In order to generate an efficient travel route in automatic driving, it is preferable to generate a route that moves efficiently to the discharge point. In order to efficiently move to the discharge point, it is important to clear the unworked land and move to the discharge point as it is. Therefore, when reaching the end of the unworked land, it is necessary that the yield of the stored grains is suitable for discharge. The discharge standard yield obtained as described above is the yield that is the standard when discharging from the minimum required number of discharges, and even if the discharge standard yield is discharged, the final number of discharges does not change. Therefore, when generating the travel route, it is possible to give a range to the yield at the time of discharge so that the yield is discharged between the standard discharge yield and the discharge yield. Along with this, the degree of freedom in generating the travel route is improved, and when the end of the unworked land is reached, the yield of the stored grain is made suitable for discharge. becomes easier. As a result, it becomes easier to generate an efficient travel route.

Further, a discharge point setting unit for setting a discharge point for discharging the grains stored in the grain tank is provided, and the travel route generation unit generates the automatic travel route in consideration of the discharge points. preferable.

By considering the discharge point, a travel route can be generated so that harvesting ends at the edge of the unworked land closer to the discharge point, making it easier to generate an efficient travel route.

Furthermore, in the work management method according to one embodiment of the present invention, a grain tank for storing grains harvested and threshed and a yield sensor for measuring the yield of the grains stored in the grain tank are provided. and harvesting the crops in the outer peripheral area of the field by manual travel, and harvesting the crops while automatically traveling in the unworked land inside the previously worked land where the manual travel has been performed. A management method comprising the steps of: receiving a satellite signal from a satellite; calculating positioning data corresponding to the vehicle position of the combine harvester based on the satellite signal; obtaining the positioning data and the yield; a step of calculating the area of the already-worked land and the area of the unworked land of the unworked land from the positioning data acquired during the manual travel; A step of calculating a yield rate, which is a yield per unit area in the already worked land, from the area, and a grain expected to be harvested in the unworked land from the unworked land area and the yield rate and calculating the total grain yield.

By estimating the total yield of the unworked land in this way, it is possible to easily manage the harvesting operation, including this field or other fields, when the perimeter mowing is completed. In addition, the total yield harvested in the unworked land can be taken into consideration when generating a travel route for automatic driving in the unworked land. Therefore, it is possible to efficiently generate a travel route for automatic travel by using the total yield as a guideline.

Moreover, it is preferable to include a step of dividing the total yield by the yield yield discharged from the grain tank and then rounding up to the nearest decimal point to calculate the minimum required number of discharges during automatic travel on the unworked land.

With such a configuration, it becomes easy to optimize the timing of discharging grains, and it becomes possible to efficiently generate a travel route for automatic travel.

Further, when the grains are discharged during the manual travel, it is preferable to calculate the number of times of discharge by using the yield stored at the time of the discharge during the manual travel as the discharged yield.

By using the yield at the time of actual discharge as the discharge yield, it becomes possible to calculate a more realistic number of times of discharge.

Further, it is preferable to include a step of calculating a standard emission yield, which is a yield equal to or less than the emission yield, from the total yield and the number of times of discharge, and a step of generating an automatic driving route based on the standard emission yield. .

With such a configuration, when generating a travel route, it is possible to give a range to the yield at the time of discharge so that the yield is discharged between the standard discharge yield and the discharge yield. Therefore, the degree of freedom in generating the travel route is improved, and when reaching the end of the unworked land, it is possible to make the yield of the stored grain suitable for discharge. easier. As a result, it becomes easier to generate an efficient travel route.

Moreover, it is preferable that a step of setting a discharge point for discharging the grain stored in the grain tank is provided, and the automatic travel route is generated in consideration of the discharge point.

By considering the discharge point, a travel route can be generated so that harvesting ends at the edge of the unworked land closer to the discharge point, making it easier to generate an efficient travel route.

It is a left view of a combine. It is a figure which shows the outline|summary of automatic driving|running|working of a combine. It is a figure which shows the driving|running route in automatic driving|running|working. It is a functional block diagram which shows the structure of the management and control system of a combine. It is a figure explaining discharge|emission of the grain performed during a harvesting driving|running|working. It is a figure explaining a preliminary|backup adjustment path|route. It is a figure which shows the flow in the management and control method of a combine.

A mode for carrying out the present invention will be described based on the drawings. In the following description, the direction of arrow F shown in FIG. 1 is defined as "front", the direction of arrow B is defined as "back", the front direction of the paper surface of FIG. and The direction of arrow U shown in FIG. 1 is defined as "up", and the direction of arrow D is defined as "down".

[Overall configuration of combine harvester]
As shown in FIGS. 1 and 2, the combine includes a crawler type traveling device 11, an operation unit 12, a threshing device 13, a grain tank 14, a harvesting device H, a conveying device 16, a grain discharging device 18, and a satellite positioning module. It has 80.

As shown in FIG. 1, the traveling device 11 is provided under a traveling vehicle body 10 (hereinafter simply referred to as vehicle body 10). The combine is configured to be self-propelled by a travel device 11 .

The driving unit 12 , the threshing device 13 and the grain tank 14 are provided above the traveling device 11 . A supervisor who monitors the operation of the combine can be on board the operation unit 12 . Note that the supervisor may monitor the operation of the combine from outside the combine.

The grain discharging device 18 is provided above the grain tank 14 . Also, the satellite positioning module 80 is attached to the upper surface of the operating section 12 .

A harvesting device H is provided at the front of the combine. The conveying device 16 is provided behind the harvesting device H. As shown in FIG. The harvesting device H also has a cutting mechanism 15 and a reel 17 .

The cutting mechanism 15 cuts planted grain culms in the field. In addition, the reel 17 rakes in the planted culms to be harvested while being driven to rotate. With this configuration, the harvesting device H harvests grains (hereinafter also referred to as “crops”) in the field. The combine can travel by the harvesting device H while traveling by the traveling device 11 to harvest the grains in the field.

Thus, the combine has the harvesting device H for harvesting the grains in the field and the traveling device 11 .

The harvested culms harvested by the cutting mechanism 15 are conveyed to the threshing device 13 by the conveying device 16 . In the threshing device 13, harvested grain culms are threshed. Grains obtained by the threshing process are stored in the grain tank 14 . The grain tank 14 is provided with a yield sensor 19 that measures the yield of grains stored in the grain tank 14 . The grains stored in the grain tank 14 are discharged out of the machine by the grain discharging device 18 as required.

Thus, the combine has a grain tank 14 for storing grains harvested by the harvesting device H.

A communication terminal 2 is arranged in the driving unit 12 . In FIG. 1, the communication terminal 2 is fixed to the operating section 12 . However, the present invention is not limited to this, and the communication terminal 2 may be configured to be detachable from the operating section 12 . Also, it may be taken out of the combine.

[Configuration related to automatic driving]
As shown in FIG. 2, the combine automatically travels along the traveling route generated in the field. Therefore, the combine needs to recognize the own vehicle position. A satellite positioning module 80 with satellite antenna includes a satellite navigation module 81 and an inertial navigation module 82 . The satellite navigation module 81 receives GNSS (global navigation satellite system) signals (including GPS signals) from artificial satellites GS via a satellite antenna and outputs positioning data for calculating the position of the vehicle. The inertial navigation module 82 incorporates a gyroscopic accelerometer and a magnetic heading sensor, and outputs a position vector indicating the instantaneous direction of travel. The inertial navigation module 82 is used to complement the vehicle position calculation by the satellite navigation module 81 . Inertial navigation module 82 may be located at a different location than satellite navigation module 81 .

The procedure for harvesting in a field using a combine is as described below.

First, the driver/monitor manually operates the combine harvester, and as shown in FIG. also called). Thus, the area that has become the already harvested land (already worked land) is set as the outer peripheral area SA. An area left uncut (unworked) inside the outer peripheral area SA is set as a work target area CA. FIG. 2 shows an example of the peripheral area SA and the work area CA. The surrounding mowing is carried out by manual traveling, but the surrounding mowing at this time may be traveling in which the operator gets on the combine and operates the combine, but the operator or the like can operate the combine by remote control. can be

Further, at this time, in order to secure the width of the outer peripheral area SA to some extent, the driver makes the combine run two or three times. In this running, the width of the outer peripheral area SA is expanded by the working width of the combine each time the combine makes one turn. After the first two to three rounds of travel are completed, the width of the outer peripheral area SA is about two to three times the working width of the combine harvester.

The outer peripheral area SA is used as a space for the combine to change direction when automatically traveling for harvesting in the work target area CA. In addition, the outer peripheral area SA is also used as a space for movement, such as when moving to a grain discharge location or a fuel replenishment location after temporarily finishing harvesting.

The transport vehicle CV shown in FIG. 2 can collect and transport the grains discharged from the combine. When the grain is discharged, the combine moves to the vicinity of the transport vehicle CV, and then the grain is discharged to the transport vehicle CV by the grain discharge device 18 .

When the outer peripheral area SA and the work area CA are set, the travel route in the work area CA is calculated as shown in FIG. The calculated travel route is sequentially generated based on the work travel pattern, and becomes a route along which the combine automatically travels along the generated travel route.
In addition to the U-turning pattern for changing direction along a U-shaped turning traveling path as shown in FIG. It has a turning pattern and a switchback turning pattern in which the same direction change as the U turning pattern is performed in a narrower area than the U turning pattern with backward traveling. Such turning travel including backward travel is also performed when the grain tank 14 is full and the combine harvester has left the travel route of the work target area CA and is aligned with the transport vehicle CV.

[Management and control related to automated driving]
A configuration for managing and controlling automatic driving will be described below with reference to FIGS. 4 to 6. FIG.

The management and control system of the combine harvester consists of a control unit 5 consisting of a large number of electronic control units called ECUs, and various inputs and outputs that perform signal communication (data communication) with this control unit 5 through a wiring network such as an in-vehicle LAN. Consists of equipment.

The communication unit 66 is used by the management/control system of this combine to exchange data with the communication terminal 2 or with a management computer installed at a remote location. The communication terminal 2 includes a tablet computer operated by a supervisor standing in a field, a driver/supervisor riding in a combine harvester, and a computer installed in a home or a management office. A control unit 5 is a core element of this control system and is shown as a collection of multiple ECUs. A signal from the satellite positioning module 80 is input to the control unit 5 through the in-vehicle LAN. Note that some of the components of the control unit 5 may be arranged in the communication terminal 2 .

The control unit 5 includes an input processing section 90 , a vehicle position calculation section 55 , a vehicle orientation calculation section 56 , an agricultural field management section 83 , a yield management section 70 and a travel route generation section 54 . Further, the control unit 5 can include an output processing section, a traveling control section that controls the group of traveling devices, a work control section that controls the harvesting device, and the like, although not shown. The output processing unit includes a steering device, an engine device, a transmission device, a braking device, a harvesting device H (see FIG. 1), a threshing device 13 (see FIG. 1), a conveying device 16 (see FIG. 1), a grain discharging device 18 ( (See FIG. 1).

The input processing unit 90 is connected with the satellite positioning module 80, the yield output unit 20, the traveling state sensor group 63, the working state sensor group 64, the traveling operation unit (not shown), and the like. The input processing section 90 receives information from these and provides the information to various functional sections within the control unit 5 . The running state sensor group 63 includes an engine speed sensor, an overheat detection sensor, a brake pedal position detection sensor, a shift position detection sensor, a steering position detection sensor, and the like. The working state sensor group 64 includes a harvesting work device (harvesting device H (see FIG. 1)), a threshing device 13 (see FIG. 1), a conveying device 16 (see FIG. 1), and a grain discharging device 18 (see FIG. 1). It includes a sensor that detects the driving state of the stalk, a sensor that detects the state of the culm and grains, and so on.

Based on the positioning data sequentially sent from the satellite positioning module 80, the own vehicle position calculation unit 55 calculates the position of the own vehicle as map coordinates (or field coordinates) of a specific location of the vehicle body 10 (see FIG. 1) set in advance. Calculate the positions and positions of the ends of the crop width. A vehicle azimuth calculation unit 56 obtains a vehicle trajectory in a minute time from the vehicle position sequentially calculated by the vehicle position calculation unit 55, and calculates a vehicle azimuth indicating the orientation of the vehicle 10 (see FIG. 1) in the traveling direction. decide. In addition, the vehicle body orientation calculator 56 can also determine the vehicle orientation based on the orientation data included in the output data from the inertial navigation module 82 .

Based on the vehicle position calculated by the vehicle position calculation unit 55, the farm field management unit 83 calculates the outer shape of the farm field, the outer shape of the work area CA, the area of the farm field, the area of the work area CA, and the like.
For example, the agricultural field management unit 83 includes an area calculation unit 84, a shape calculation unit 85, and the like. The shape calculator 85 calculates the outer shape of the field and the outer shape of the work area CA. The area calculation unit 84 calculates the area of the farm field and the area of the work target area CA. In addition, the agricultural field management unit 83 may include a discharge point setting unit 86 that sets a discharge point for discharging the grains to the transport vehicle CV.

The yield management unit 70 manages the yield used for determining the travel route for automatic driving.
Therefore, the yield management unit 70 estimates the yield rate, which is the yield of crops harvested per unit area of the field, the total yield that can be harvested in the work target area CA, and the like. In addition, the yield management unit 70 calculates the number of discharge times of the stored grains and the yield of the grains to be discharged, which are the minimum required when harvesting the crops in the work target area CA. Specifically, the yield management unit 70 can include a yield rate calculation unit 71, a total yield calculation unit 72 (corresponding to a total yield estimation unit), a discharge frequency calculation unit 73, a discharge standard yield calculation unit 74, and the like. Note that the yield management unit 70 can include all of these, or can include a combination of some of them.

The yield rate calculator 71 calculates the yield rate, which is the yield per unit area, from the yield of grains harvested in the outer peripheral area SA and the area of the outer peripheral area SA in peripheral cutting. Specifically, the yield rate is obtained by dividing the yield of grains harvested in the peripheral area SA by the area of the peripheral area SA. The yield of grains harvested in the peripheral area SA is obtained from the amount of increase in grains stored in the grain tank 14 from the start to the end of peripheral cutting by manual travel. Note that when the grains are discharged during peripheral mowing, the amount of increase in the grains before and after that is integrated. The yield of grains harvested in the outer peripheral area SA may be calculated by the yield rate calculation unit 71, or may be calculated by other functional units such as other functional units in the yield management unit 70. The area of the outer peripheral area SA is obtained by the area calculator 84 subtracting the area of the work target area CA from the area of the agricultural field.

The total yield calculator 72 estimates the total yield of grains expected to be harvested in the entire work area CA from the area of the work area CA and the yield rate. Specifically, the total yield is obtained by multiplying the area of the work area CA and the yield rate. As a result, it is possible to efficiently generate a travel route for automatic travel in the work target area CA with reference to the total yield and taking grain discharge into account.

The discharge frequency calculation unit 73 calculates the minimum amount of grains required for automatic travel in the work area CA based on the discharge yield, which is the amount of grain stored in the grain tank 14 when the grains are discharged, and the total yield of the work area CA. Calculate the number of times of discharge. Specifically, the discharge count is obtained by dividing the total yield by the discharge yield and rounding it up to an integer value. The discharged yield is the full yield of the grain tank 14, a predetermined ratio or a predetermined amount less than the full yield, the discharged yield required from the outside, the yield corresponding to the loading capacity of the transport vehicle, or the yield at the time of discharge in advance. The yield can be defined as Further, when the grains are discharged during peripheral mowing, the yield at the time of discharge may be used as the discharged yield. By calculating the number of discharges in this way, as will be exemplified later, an efficient travel route can be determined in automatic travel in the work target area CA while setting an efficient discharge timing in consideration of the number of discharges. can be generated.

The discharge standard yield calculation unit 74 calculates the discharge standard yield from the total yield of the work target area CA and the number of times of discharge calculated by the discharge frequency calculation unit 73 . The discharge standard yield is the yield of grains stored in the grain tank 14 as a guideline for discharging grains during automatic travel. Specifically, the discharge standard yield is obtained by dividing the total yield by the number of times of discharge. By calculating the emission standard yield in this way, as will be illustrated later, the travel route for automatic driving in the work target area CA can be efficiently generated while setting an efficient emission timing using the emission standard yield as a guide. It becomes possible to

The travel route generation unit 54 generates a travel route for automatic travel in the work area CA based on the outer shape of the field, the outer shape of the work area CA, and the like. The travel route used for automatic travel can be generated by the travel route generation unit 54 by itself using a route calculation algorithm, but it is also possible to use a downloaded one generated by the communication terminal 2 or a remote management computer. It is possible. Note that the travel route calculated by the travel route generator 54 can be used for the purpose of guidance for the combine to travel along the travel route even in manual operation.

In addition, this combine can be driven both in automatic driving for harvesting by automatic driving and in manual driving for harvesting by manual driving. The automatic driving mode is set for automatic driving, and the manual driving mode is set for manual driving. The switching of the driving mode is managed by a driving mode management unit (not shown) or the like.

In addition, when generating a travel route for automatic travel, the travel route generation unit 54 selects any one of the total yield of the work target area CA, the number of times of discharge calculated by the number of times of discharge calculation unit 73, and the standard yield of discharge, or any of these. It is also possible to consider combining them as appropriate. In addition, the travel route generation unit 54 can also generate the travel route in consideration of the discharge points set by the discharge point setting unit 86 .

By generating a travel route for automatically traveling in the work area CA in consideration of the total yield of the work area CA, the travel route including the discharge travel moving to the discharge point can be efficiently generated while referring to the discharge yield. can be generated. It is also possible to calculate the remaining yield from the yield of grains harvested during automatic travel, and change the travel route to an efficient travel route as needed from the remaining yield in the work target area CA as the automatic travel progresses.

In addition, by generating a travel route that automatically travels in the work target area CA in consideration of the number of ejections, automatic travel from the ejection of grains to the next ejection of grains can be performed according to the number of ejections. An optimal travel route can be easily and efficiently generated by, for example, equalizing the harvest travel distance.

In addition, the travel route estimates the timing when the grains need to be discharged, such as when the discharge yield is reached, and considers the route to move to the discharge point, and determines the timing when the discharge yield is reached. It is desirable to generate it so that the CA can be cut off.

For example, as shown in FIG. 5, a combine harvester that is automatically traveling travels so as to traverse the work area CA at a certain position, then turns and traverses the work area CA at another position. Repeat running. A combine harvester (illustrated as a traveling vehicle body 10 in the figure) is set near the transport vehicle CV to discharge the stored grains when the yield of the grains stored in the grain tank 14 reaches the discharge yield. move to the discharge point PO. Assuming that the combine is traveling at a position (for example, position PF1) inside the work area CA when the discharge yield is reached, the combine moves backward along the already harvested traveling route and turns in the outer peripheral area SA. It travels on the discharge travel route LO1 toward the discharge point PO. However, when the travel route is reversed in this way and the vehicle is headed toward the discharge point PO, the discharge travel route LO1 associated with the discharge becomes long, and the efficiency of the automatic travel deteriorates.

On the other hand, by generating a travel route that automatically travels in the work target area CA in consideration of the discharge standard yield, the yield when discharging grains can be varied from the discharge standard yield to a range that does not exceed the full yield. You just have to consider the yield that was given. Therefore, it is possible to easily generate a travel route so that the timing of moving to the discharge point coincides with the timing of clearing the work area CA. For example, as shown in FIG. 5, if the yield reaches a range equal to or greater than the emission standard yield and equal to or less than the full yield at the position PF2 at the end of the work target area CA, the robot moves forward as it is to follow the discharge travel route LO2. through to the discharge point PO. As a result, an efficient travel route can be easily generated.

Furthermore, as shown in FIG. 6, in order to easily generate an efficient travel route, the travel route generator 54 adjusts the length of the work area CA in the direction along the travel route during automatic travel. A preliminary adjustment route LR for performing preliminary adjustment travel may be generated. By performing the preliminary adjustment traveling in this manner, a traveling route is generated so that the emission yield is reached at the timing when the operation target area CA is cleared so that the emission yield does not occur inside the operation target area CA during automatic travel. becomes easier. For example, the travel route can be generated so that the discharge yield is reached at the end of the work area CA during reciprocating travel. As a result, it is possible to always go to the discharge point PO through the discharge travel route LO2 that does not involve retreating, and discharge the appropriate amount of grains. As a result, it is possible to easily generate an efficient travel route that enables efficient discharge of grains and efficient discharge travel. The discharge yield at this time may be the discharge standard yield, or the yield equal to or greater than the discharge standard yield and equal to or less than a predetermined ratio to the full yield or the yield less than the predetermined yield. Further, although the drawing shows an example in which the preliminary adjustment path LR is generated at one side edge of the work area CA, the preliminary adjustment path LR may be generated at two opposite side edges.

Note that the area of the work area CA, the yield rate, the total yield of the work area CA, the number of times of discharge calculated by the number of times of discharge calculating unit 73, and at least a part of the standard discharge yield, which have been checked in advance, are retained. Alternatively, it may be obtained from the outside via the input processing unit 90 . When acquiring from the outside, the input processing unit 90 or the travel route generation unit 54 and other functional units are an area acquisition unit that acquires the area of the work target area CA, a yield rate acquisition unit that acquires the yield rate, and a total yield. It functions as a data acquisition unit such as a total yield acquisition unit, a discharge frequency acquisition unit that acquires the number of discharges, and a discharge standard yield acquisition unit that acquires a discharge standard yield.

Further, the travel route generator 54 preferably generates the preliminary adjustment route so that the harvesting work of the work target area CA is finished on one side facing the entrance from the ridge in the farm field.

A method of managing and controlling automatic driving will be described below with reference to FIGS. 4 to 7. FIG. Note that the method described below may be realized by the apparatus configuration shown in FIG. 4 described above, but may be realized by any other configuration. Also, the method described below can be implemented using a program. For example, the program is stored in the storage device 92 and executed by the control section 91 such as a CPU or an ECU. Moreover, the storage device 92 and the control section 91 may be provided in the control unit 5, or may be provided in another location.

Satellite signals are continuously received from satellites, and positioning data corresponding to the position of the vehicle is calculated (step #1 in FIG. 7).

Also, the yield of grains stored in the grain tank 14 is continuously measured (step #2 in FIG. 7).

While continuously calculating the positioning data and measuring the yield, the combine harvests the peripheral area SA of the field (step #3 in FIG. 7).

After cutting the perimeter, the outer shape of the work area CA (unworked area), which is the uncut land (unworked area) inside the outer peripheral area SA (already worked area), is determined from the continuously calculated positioning data. and the outer shape of the outer peripheral area SA (the outer shape of the farm field) is calculated. In addition, the area of the work target area CA and the area of the peripheral area SA are calculated (step #4 in FIG. 7).

In addition, a yield rate, which is a yield per unit area when peripheral cutting is performed on the peripheral region SA, is calculated from the yield of grains harvested during peripheral cutting and the area of the peripheral region SA. Specifically, the yield rate is obtained by dividing the yield of grain harvested during perimeter mowing by the area of the outer peripheral region SA. It should be noted that the calculated yield rate can be estimated to be applicable to harvesting in the entire field, and can be used for generating a travel route of the work area CA by automatic travel (step #5 in FIG. 7).

Then, the total yield of grains expected to be harvested in the work area CA is calculated from the area of the work area CA and the yield rate. Specifically, the total yield is obtained by multiplying the area of the work area CA and the yield rate. By referring to the total yield, it is possible to efficiently generate a travel route for automatic travel in the work target area CA while taking grain discharge into consideration (step #6 in FIG. 7).

Next, from the discharged yield and the total yield of the work area CA, the minimum required number of grain discharges for automatic travel in the work area CA is calculated. Specifically, the minimum required number of grain discharges is obtained by dividing the total yield by the discharge yield and then rounding up to the nearest whole number. Note that the discharge yield here refers to the full yield of the grain tank 14, the yield that is a predetermined ratio or a predetermined amount less than the full yield, the discharge yield required from the outside, the capacity corresponding to the loading capacity of the transport vehicle, Alternatively, it can be a yield that is defined in advance as the yield at the time of discharge. Further, when the grains are discharged during peripheral mowing, the yield at the time of discharge may be used as the discharged yield (step #7 in FIG. 7).

As described above, when the automatic driving is performed until the discharge yield is reached, when the discharge yield is reached inside the work target area CA, it is necessary to retreat in order to move to the discharge point PO. may not be possible. On the other hand, by obtaining the minimum required number of grain discharges, when generating a travel route for automatic driving, even if the discharge yield is not reached, the number of discharges is taken into account. , it may be possible to generate a travel route that starts traveling to the ejection point PO at a convenient location to travel to the ejection point PO. As a result, it is possible to generate an efficient travel route in automatic travel in the work area CA.

Next, a discharge reference yield is calculated from the total yield of the work area CA and the minimum required number of grain discharges. Specifically, the discharge standard yield is obtained by dividing the total yield of the work target area CA by the minimum required number of grain discharges. The emission standard yield obtained in this way corresponds to the yield when the yield discharged in each automatic driving is equally distributed when the grain is discharged at the minimum required number of times of grain discharge. . Then, the discharge standard yield becomes a yield equal to or less than the discharge yield. Therefore, a yield equal to or greater than the emission standard yield and equal to or less than the emission yield can be used as the yield at the time of discharge that is considered when generating a travel route for automatic driving. In this way, it is possible to give a range to the yield at the time of discharge that is taken into consideration when generating the travel route. Such a travel route can be generated more easily (step #8 in FIG. 7).

Next, when generating the travel route of the work target area CA by automatic travel, first, a preliminary adjustment route is generated. The preliminary adjustment route is a route along which harvest travel is performed in order to shorten the length of the outer shape of the work area CA so that the length of reciprocating travel in the work area CA by automatic travel is shortened. Therefore, the preliminary adjustment route is a route that travels in a direction intersecting the direction of reciprocating travel. By harvesting and traveling on the preliminary adjustment route, the work target area CA becomes the optimum shape for the subsequent reciprocating travel by automatic travel. The optimum shape is, for example, a shape that does not result in a discharge yield in the middle of the travel route in the work area CA (inside the work area CA) in automatic travel. As described above, when the discharge yield is reached in the middle of the travel route, it becomes impossible to efficiently move to the discharge point PO. Therefore, it is preferable to generate the travel route so that the yield is such that the movement to the discharge point PO can be started at the end of the work area CA. The preliminary adjustment route is a route for making the shape of the work target area CA into a shape that facilitates the generation of such a travel route. Such a preliminary adjustment route is generated based on the total yield of the work area CA described above. In addition, it is preferable to consider emission yield. As described above, the discharged yield is the full yield of the grain tank 14, the yield that is a predetermined ratio or a predetermined amount less than the full yield, the discharged yield requested from the outside, the capacity corresponding to the loading capacity of the transport vehicle, or It is possible to obtain a yield that is defined in advance as the yield at the time of discharge (step #9 in FIG. 7).

As the total yield, the total yield obtained in step #6 of FIG. 7 may be used, or the total yield obtained in advance may be used, or may be obtained from the outside when generating the preliminary adjustment route. good.

Further, when generating the preliminary adjustment route, a discharge point for discharging the grains stored in the grain tank 14 may be set in advance, and the preliminary adjustment route may be generated in consideration of the discharge point.
Further, the preliminary adjustment route may be generated so that the harvesting work of the work area CA is finished on one side facing the entrance from the ridge in the field among the sides forming the work area CA.

Next, a travel route for automatic travel is generated for the work area CA where harvesting is not performed (step #10 in FIG. 7).

Finally, harvesting is performed by automatic traveling on the work target area CA where harvesting is not performed. The process ends when the harvesting runs for all regions are completed (step #10 in FIG. 7).

It should be noted that the generation of the travel route in automatic driving can also be performed in consideration of at least one of the yield rate, the total yield, the number of discharges, and the emission standard yield. Further, when generating the travel route, a discharge point for discharging the grains stored in the grain tank 14 may be set in advance, and the travel route may be generated in consideration of the discharge point.

In the embodiment described above, the following embodiments can be combined for implementation.

[Another embodiment 1]
Yield rate, total yield, number of discharges, and standard discharge yield are calculated based on the information in the perimeter mowing of the field, and in the perimeter mowing, a map of the field is created. When creating a field map, an operation for starting creation of a field map is performed by an agricultural field map creation start switch or the like. Further, the operation of the field map creation start switch may be regulated so that it is possible only when the assist switch is input (assist mode is ON) and the work state is related to automatic travel. Furthermore, surrounding cutting may be started only in the harvesting state and in the state where the field map creation start switch is turned on. By providing the regulations as described above, it is possible to avoid creating a field map at an inappropriate position, and to create an appropriate field map when mowing the surroundings of the field.

The harvesting state is the state where the harvesting device H (see FIG. 1) is at a predetermined height, and may be the state where the threshing device 13 (see FIG. 1) is in operation. Further, when it is determined that the surrounding area is being cut, if the field map creation start switch is not turned on, a warning may be issued. As a result, forgetting to input the field map creation start switch can be suppressed. Whether or not surrounding mowing is being performed can be determined by checking whether an assist switch is turned on at a place where no map is created, or whether the harvesting device H (see FIG. 1) is at a predetermined position, or the like.

Further, when the positioning state of the satellite positioning module 80 (see FIG. 1) deteriorates during surrounding mowing (during field map creation), a warning may be issued and the field map creation or harvesting work may be interrupted. As a result, it is possible to prevent an inaccurate field map from being created.

The above warning can be given to the communication terminal 2 (see FIG. 1) such as a VT (virtual terminal), the operation unit 12 (see FIG. 1), etc. .

[Another embodiment 2]
In addition to the calculated yield rate, total yield, discharge frequency and discharge standard yield, completion of each work, predicted time when the grain tank 14 (see FIG. 1) is full or a predetermined yield, and running stop , Abnormal stoppage, detection of clogging in the harvesting device H (see FIG. 1), etc. may be notified to a terminal such as a smart phone of another person such as a veteran worker or manager. good. As a result, it becomes possible to receive necessary instructions and advice from others, and to prompt the necessary work such as movement of the carrier.

[Another embodiment 3]
It is also possible to use two or more different working machines such as combine harvesters to create a farm field map including calculation of the outer shape and area of the farm field and the work area CA, and to automatically travel in the work area CA. As a result, one working machine automatically travels in the work target area CA while the other working machine performs surrounding mowing, thereby efficiently performing harvesting work on many farm fields. In addition, since experience is required for perimeter mowing, more experienced workers can perform perimeter mowing, and inexperienced operators can monitor the automatic driving, making harvesting work more efficient. .

In addition, the work machine that performs the perimeter cutting is not a work machine that can automatically travel, but a work machine that includes a satellite positioning module 80 (see FIG. 1) capable of recording measurement data and a communication device. . In this case, the positioning data may be transmitted to a management server or the like, the management server may create information such as a field map, and the information may be transferred to the work machine that automatically travels. As a result, a field can be harvested by automatic traveling with a simpler configuration. Further, the work machine for mowing the surrounding area may be a work machine that cannot automatically travel, and a satellite positioning module 80 (see FIG. 1) and a communication device are retrofitted.

A recording device for recording positioning data may be provided outside the satellite positioning module 80 (see FIG. 1). If the management server can record the positioning data, the satellite positioning module 80 (see FIG. 1) need not record the positioning data.

INDUSTRIAL APPLICABILITY The present invention is suitable for various harvesting vehicles such as combines.

14 Grain Tank 15 Cutting Mechanism 16 Conveying Device 17 Reel 18 Grain Discharging Device 19 Yield Sensor 20 Yield Output Section 54 Traveling Route Generation Section 71 Yield Rate Calculation Section 72 Total Yield Calculation Section 73 Discharge Times Calculation Section 74 Discharge Standard Yield Calculation Section 80 satellite positioning module 84 area calculation unit 86 discharge point setting unit 90 input processing unit

Claims (2)

It has a grain tank for storing harvested and threshed grains and a yield sensor for measuring the yield of the grains stored in the grain tank, and harvests the crops in the outer peripheral area in the field by harvesting running. and a work management system for a combine that harvests crops while automatically traveling in an unworked area inside the already worked area where the harvesting travel has been performed,
a satellite antenna provided in the combine for receiving a satellite signal from a satellite;
a satellite positioning module provided in the combine for outputting positioning data corresponding to the position of the vehicle based on the satellite signal;
a yield output unit provided in the combine for outputting the yield measured by the yield sensor;
a data acquisition unit that acquires the positioning data and the yield;
an area calculation unit that calculates an already-worked area of the already-worked area and an un-worked area of the un-worked area from the positioning data acquired while traveling on the already-worked area;
a yield rate calculation unit that calculates a yield rate, which is a yield per unit area in the previous work land, from the yield obtained when traveling the previous work land and the area of the previous work land;
A work management system comprising: a total yield estimating unit for estimating a total yield of grains expected to be harvested in the unworked land from the unworked land area and the yield rate. It has a grain tank for storing harvested and threshed grains and a yield sensor for measuring the yield of the grains stored in the grain tank, and harvests the crops in the outer peripheral area in the field by harvesting running. and a work management method performed for a combine harvesting crops while automatically traveling on an unworked land inside the already worked land on which the harvesting travel has been performed,
a step of receiving a satellite signal from a satellite and calculating positioning data corresponding to the vehicle position of the combine based on the satellite signal;
obtaining the positioning data and the yield;
a step of calculating an already-worked area of the already-worked area and an un-worked area of the un-worked area from the positioning data acquired while traveling on the already-worked area;
a step of calculating a yield rate, which is a yield per unit area in the already-worked land, from the yield obtained when traveling the already-worked land and the area of the already-worked land;
and calculating a total yield of grain expected to be harvested in the unworked land from the unworked land area and the yield rate.

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